一种球形电动机转子三自由度位置检测方法研究
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摘要
研究了一种永磁球形电动机转子位置检测方法,通过结合多组三维霍尔传感器及永磁体进行球形转子空间位移和角位移的三自由度位置检测,改进了测量球形电动机转子位置的方法,给出了具体的求解方法。对检测过程中来自系统内外的线圈和永磁体产生的误差因素依次进行了理论研究和仿真分析。仿真和实验结果证明,该方法能对球形电动机转子三自由度位置进行有效检测,为三自由度球形电动机位置检测提供了新的思路。
A method for detecting the three-degree-of-freedom( three-DOF) position of the rotor of a PM spherical motor was designed. By using multiple sets of Hall sensors and permanent magnets,the three-DOF position including Spatial displacement and angular displacementof the spherical rotor was detected. The method of measuring the rotor position of the spherical motor was improved. The specific solution method is given. The factors that produce errors from coils and permanent magnets inside and outside the system were theoretical and simulated analyzed. Simulation and experimental results show the validity of detection system and provide a new idea for the three-DOF position detection of the three-DOF spherical motor.
A method for detecting the three-degree-of-freedom( three-DOF) position of the rotor of a PM spherical motor was designed. By using multiple sets of Hall sensors and permanent magnets,the three-DOF position including Spatial displacement and angular displacementof the spherical rotor was detected. The method of measuring the rotor position of the spherical motor was improved. The specific solution method is given. The factors that produce errors from coils and permanent magnets inside and outside the system were theoretical and simulated analyzed. Simulation and experimental results show the validity of detection system and provide a new idea for the three-DOF position detection of the three-DOF spherical motor.
引文
[1] GUO J,BAK C,SON H. Design of a sensing system for a sphericalmotor based on hall effect sensors and neural networks[C]//Ad-vanced Intelligent Mechatronics(AIM)Conference. IEEE,2015:1410-1414.
[2] GUNGUK K,HUNGSUN S. Two-DOF orientation measurementsystem for a magnet with single magnetic sensor and neural network[C]//Ubiquitous Robots and Ambient Intelligence(URAI)Con-ference. IEEE,2017:448-453.
[3]过希文,王群京,李国立.多自由度永磁球形电动机控制策略的研究与发展[J].微特电机,2011,39(2):72-76.
[4] MOHAMMAD S,FARZIN P,SAMAN R,et al. Design New PIDlike Fuzzy CTC Controller:Applied to Spherical Motor[J]. Interna-tional Journal of Modern Education and Computer Science,2014,6(5):60-68.
[5] KIM Y,KANG D,LEE J. Methodology of prediction the rotor posi-tion of spherical permanent magnet synchronous motor[C]//Elec-trical Machines and Systems(ICEMS)Conference. IEEE,2015:958-961.
[6]李争,王欣欣,张玥.基于分布式多极磁场模型的永磁多自由度电机位置检测方法研究[J].微电机,2014,47(3):37-42.
[7]马姗,李国丽,钱喆,等.基于气隙磁场测定的永磁球形电动机位置检测方法研究[J].微特电机,2014,42(10):4-7
[8] SON H,LEE KM. Distributed multipole models for design and con-trol of PM actuators and sensors[J]. IEEE/ASME Transactions onMechatronics,2008,13(2):228-238.
[9] BAI K,LEE K M. Direct field-feedback control of a ball-joint-like permanent-magnet spherical motor[J]. IEEE/ASME Trans-actions on Mechatronics,2014,19(3):975-986.
[10]刘刚,肖烨然,宋欣达.永磁同步电机用线性霍尔位置检测的误差补偿[J].电机与控制学报,2014,18(8):36-42.
[11]刘敬猛,孟艳艳,陈伟海,等.三自由度永磁球形电机的建模和电压控制[J].吉林大学学报:工学版,2014,44(2):560-566.
[2] GUNGUK K,HUNGSUN S. Two-DOF orientation measurementsystem for a magnet with single magnetic sensor and neural network[C]//Ubiquitous Robots and Ambient Intelligence(URAI)Con-ference. IEEE,2017:448-453.
[3]过希文,王群京,李国立.多自由度永磁球形电动机控制策略的研究与发展[J].微特电机,2011,39(2):72-76.
[4] MOHAMMAD S,FARZIN P,SAMAN R,et al. Design New PIDlike Fuzzy CTC Controller:Applied to Spherical Motor[J]. Interna-tional Journal of Modern Education and Computer Science,2014,6(5):60-68.
[5] KIM Y,KANG D,LEE J. Methodology of prediction the rotor posi-tion of spherical permanent magnet synchronous motor[C]//Elec-trical Machines and Systems(ICEMS)Conference. IEEE,2015:958-961.
[6]李争,王欣欣,张玥.基于分布式多极磁场模型的永磁多自由度电机位置检测方法研究[J].微电机,2014,47(3):37-42.
[7]马姗,李国丽,钱喆,等.基于气隙磁场测定的永磁球形电动机位置检测方法研究[J].微特电机,2014,42(10):4-7
[8] SON H,LEE KM. Distributed multipole models for design and con-trol of PM actuators and sensors[J]. IEEE/ASME Transactions onMechatronics,2008,13(2):228-238.
[9] BAI K,LEE K M. Direct field-feedback control of a ball-joint-like permanent-magnet spherical motor[J]. IEEE/ASME Trans-actions on Mechatronics,2014,19(3):975-986.
[10]刘刚,肖烨然,宋欣达.永磁同步电机用线性霍尔位置检测的误差补偿[J].电机与控制学报,2014,18(8):36-42.
[11]刘敬猛,孟艳艳,陈伟海,等.三自由度永磁球形电机的建模和电压控制[J].吉林大学学报:工学版,2014,44(2):560-566.